Started to document the simscape model
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<!-- 2020-01-27 lun. 17:41 -->
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<!-- 2020-01-28 mar. 17:37 -->
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<title>Stewart Platform - Simscape Model</title>
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<title>Stewart Platform - Simscape Model</title>
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<a accesskey="H" href="./index.html"> HOME </a>
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<a accesskey="H" href="./index.html"> HOME </a>
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</div><div id="content">
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<h1 class="title">Stewart Platform - Simscape Model</h1>
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<h1 class="title">Stewart Platform - Simscape Model</h1>
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<div id="table-of-contents">
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<h2>Table of Contents</h2>
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<div id="text-table-of-contents">
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<ul>
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<li><a href="#orgc3777e1">1. Parameters used for the Simscape Model</a></li>
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<li><a href="#org7fa1a16">2. Simulation Configuration - Configuration reference</a></li>
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<li><a href="#org7e9bc96">3. Subsystem Reference</a></li>
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<li><a href="#orgfa5fbd3">4. Basic configuration for the Fixed base, Mobile Platform and Struts</a></li>
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<li><a href="#org09d2012">5. Sensors included in the Struts and on the Mobile Platform</a></li>
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<li><a href="#orgbe9032d">6. Inertial Sensors</a>
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<ul>
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<li><a href="#org8a7e37e">6.1. Z-Axis Geophone</a></li>
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<li><a href="#orgcd29586">6.2. Z-Axis Accelerometer</a></li>
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</ul>
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</li>
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</ul>
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<div id="outline-container-orgc3777e1" class="outline-2">
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<h2 id="orgc3777e1"><span class="section-number-2">1</span> Parameters used for the Simscape Model</h2>
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</div>
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<div id="outline-container-org7fa1a16" class="outline-2">
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<h2 id="org7fa1a16"><span class="section-number-2">2</span> Simulation Configuration - Configuration reference</h2>
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<div class="outline-text-2" id="text-2">
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<p>
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As multiple simulink files will be used for simulation and tests, it is very useful to determine good simulation configuration that will be shared among all the simulink files.
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</p>
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<p>
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This is done using something called “Configuration Reference” (<a href="https://fr.mathworks.com/help/simulink/ug/more-about-configuration-references.html">documentation</a>).
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</p>
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<p>
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Basically, the configuration is stored in a mat file <code>conf_simscape.mat</code> and then loaded in the workspace for it to be accessible to all the simulink models.
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It is automatically loaded when the Simulink project is open. It can be loaded manually with the command:
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</p>
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<div class="org-src-container">
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<pre class="src src-matlab">load(<span class="org-string">'mat/conf_simscape.mat'</span>);
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</pre>
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<p>
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It is however possible to modify specific parameters just for one Simulink file using the <code>set_param</code> command:
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</p>
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<div class="org-src-container">
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<pre class="src src-matlab"><span class="org-matlab-simulink-keyword">set_param</span>(<span class="org-variable-name">conf_simscape</span>, <span class="org-string">'StopTime'</span>, 1);
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</pre>
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</div>
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</div>
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<div id="outline-container-org7e9bc96" class="outline-2">
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<h2 id="org7e9bc96"><span class="section-number-2">3</span> Subsystem Reference</h2>
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<div class="outline-text-2" id="text-3">
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<p>
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Several Stewart platform models are used, for instance one is use to study the dynamics while the other is used to apply active damping techniques.
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</p>
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<p>
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However, all the Simscape models share some subsystems using the <b>Subsystem Reference</b> Simulink block (<a href="https://fr.mathworks.com/help/simulink/ug/referenced-subsystem-1.html">documentation</a>).
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</p>
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<p>
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These shared subsystems are:
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</p>
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<ul class="org-ul">
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<li><code>Fixed_Based.slx</code> - Fixed base of the Stewart Platform</li>
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<li><code>Mobile_Platform.slx</code> - Mobile platform of the Stewart Platform</li>
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<li><code>stewart_strut.slx</code> - One strut containing two spherical/universal joints, the actuator as well as the included sensors. A parameter <code>i</code> is initialized to determine what it the “number” of the strut.</li>
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</ul>
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<p>
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These subsystems are referenced from another subsystem called <code>Stewart_Platform.slx</code>, that basically connect them correctly.
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This subsystem is then referenced in other simulink models for various purposes.
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</p>
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</div>
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</div>
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<div id="outline-container-orgfa5fbd3" class="outline-2">
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<h2 id="orgfa5fbd3"><span class="section-number-2">4</span> Basic configuration for the Fixed base, Mobile Platform and Struts</h2>
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</div>
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<div id="outline-container-org09d2012" class="outline-2">
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<h2 id="org09d2012"><span class="section-number-2">5</span> Sensors included in the Struts and on the Mobile Platform</h2>
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</div>
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<div id="outline-container-orgbe9032d" class="outline-2">
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<h2 id="orgbe9032d"><span class="section-number-2">6</span> Inertial Sensors</h2>
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<div class="outline-text-2" id="text-6">
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</div>
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<div id="outline-container-org8a7e37e" class="outline-3">
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<h3 id="org8a7e37e"><span class="section-number-3">6.1</span> Z-Axis Geophone</h3>
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<div class="outline-text-3" id="text-6-1">
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<p>
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<a id="org8a1f5cd"></a>
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</p>
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<p>
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This Matlab function is accessible <a href="../src/initializeZAxisGeophone.m">here</a>.
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</p>
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<div class="org-src-container">
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<pre class="src src-matlab"><span class="org-keyword">function</span> <span class="org-variable-name">[geophone]</span> = <span class="org-function-name">initializeZAxisGeophone</span>(<span class="org-variable-name">args</span>)
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arguments
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args.mass (1,1) double {mustBeNumeric, mustBePositive} = 1e<span class="org-type">-</span>3 <span class="org-comment">% [kg]</span>
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args.freq (1,1) double {mustBeNumeric, mustBePositive} = 1 <span class="org-comment">% [Hz]</span>
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<span class="org-keyword">end</span>
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<span class="org-matlab-cellbreak"><span class="org-comment">%%</span></span>
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geophone.m = args.mass;
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<span class="org-matlab-cellbreak"><span class="org-comment">%% The Stiffness is set to have the damping resonance frequency</span></span>
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geophone.k = geophone.m <span class="org-type">*</span> (2<span class="org-type">*</span><span class="org-constant">pi</span><span class="org-type">*</span>args.freq)<span class="org-type">^</span>2;
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<span class="org-matlab-cellbreak"><span class="org-comment">%% We set the damping value to have critical damping</span></span>
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geophone.c = 2<span class="org-type">*</span>sqrt(geophone.m <span class="org-type">*</span> geophone.k);
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<span class="org-matlab-cellbreak"><span class="org-comment">%% Save</span></span>
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save(<span class="org-string">'./mat/geophone_z_axis.mat'</span>, <span class="org-string">'geophone'</span>);
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<span class="org-keyword">end</span>
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</pre>
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</div>
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</div>
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</div>
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<div id="outline-container-orgcd29586" class="outline-3">
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<h3 id="orgcd29586"><span class="section-number-3">6.2</span> Z-Axis Accelerometer</h3>
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<div class="outline-text-3" id="text-6-2">
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<p>
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<a id="org0db4022"></a>
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</p>
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<p>
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This Matlab function is accessible <a href="../src/initializeZAxisAccelerometer.m">here</a>.
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</p>
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<div class="org-src-container">
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<pre class="src src-matlab"><span class="org-keyword">function</span> <span class="org-variable-name">[accelerometer]</span> = <span class="org-function-name">initializeZAxisAccelerometer</span>(<span class="org-variable-name">args</span>)
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arguments
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args.mass (1,1) double {mustBeNumeric, mustBePositive} = 1e<span class="org-type">-</span>3 <span class="org-comment">% [kg]</span>
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args.freq (1,1) double {mustBeNumeric, mustBePositive} = 5e3 <span class="org-comment">% [Hz]</span>
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<span class="org-keyword">end</span>
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<span class="org-matlab-cellbreak"><span class="org-comment">%%</span></span>
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accelerometer.m = args.mass;
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<span class="org-matlab-cellbreak"><span class="org-comment">%% The Stiffness is set to have the damping resonance frequency</span></span>
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accelerometer.k = accelerometer.m <span class="org-type">*</span> (2<span class="org-type">*</span><span class="org-constant">pi</span><span class="org-type">*</span>args.freq)<span class="org-type">^</span>2;
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<span class="org-matlab-cellbreak"><span class="org-comment">%% We set the damping value to have critical damping</span></span>
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accelerometer.c = 2<span class="org-type">*</span>sqrt(accelerometer.m <span class="org-type">*</span> accelerometer.k);
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<span class="org-matlab-cellbreak"><span class="org-comment">%% Gain correction of the accelerometer to have a unity gain until the resonance</span></span>
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accelerometer.gain = <span class="org-type">-</span>accelerometer.k<span class="org-type">/</span>accelerometer.m;
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<span class="org-matlab-cellbreak"><span class="org-comment">%% Save</span></span>
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save(<span class="org-string">'./mat/accelerometer_z_axis.mat'</span>, <span class="org-string">'accelerometer'</span>);
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<span class="org-keyword">end</span>
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</pre>
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<div id="postamble" class="status">
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<div id="postamble" class="status">
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<p class="author">Author: Dehaeze Thomas</p>
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<p class="author">Author: Dehaeze Thomas</p>
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<p class="date">Created: 2020-01-27 lun. 17:41</p>
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<p class="date">Created: 2020-01-28 mar. 17:37</p>
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@ -20,3 +20,103 @@
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#+PROPERTY: header-args:matlab+ :output-dir figs
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#+PROPERTY: header-args:matlab+ :output-dir figs
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:END:
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:END:
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* Introduction :ignore:
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* Parameters used for the Simscape Model
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* Simulation Configuration - Configuration reference
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As multiple simulink files will be used for simulation and tests, it is very useful to determine good simulation configuration that will be shared among all the simulink files.
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This is done using something called "Configuration Reference" ([[https://fr.mathworks.com/help/simulink/ug/more-about-configuration-references.html][documentation]]).
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Basically, the configuration is stored in a mat file =conf_simscape.mat= and then loaded in the workspace for it to be accessible to all the simulink models.
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It is automatically loaded when the Simulink project is open. It can be loaded manually with the command:
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#+begin_src matlab :eval no
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load('mat/conf_simscape.mat');
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#+end_src
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It is however possible to modify specific parameters just for one Simulink file using the =set_param= command:
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#+begin_src matlab :eval no
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set_param(conf_simscape, 'StopTime', 1);
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#+end_src
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* Subsystem Reference
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Several Stewart platform models are used, for instance one is use to study the dynamics while the other is used to apply active damping techniques.
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However, all the Simscape models share some subsystems using the *Subsystem Reference* Simulink block ([[https://fr.mathworks.com/help/simulink/ug/referenced-subsystem-1.html][documentation]]).
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These shared subsystems are:
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- =Fixed_Based.slx= - Fixed base of the Stewart Platform
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- =Mobile_Platform.slx= - Mobile platform of the Stewart Platform
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- =stewart_strut.slx= - One strut containing two spherical/universal joints, the actuator as well as the included sensors. A parameter =i= is initialized to determine what it the "number" of the strut.
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These subsystems are referenced from another subsystem called =Stewart_Platform.slx=, that basically connect them correctly.
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This subsystem is then referenced in other simulink models for various purposes.
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* Basic configuration for the Fixed base, Mobile Platform and Struts
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* Sensors included in the Struts and on the Mobile Platform
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* Inertial Sensors
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** Z-Axis Geophone
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:PROPERTIES:
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:header-args:matlab+: :tangle ./src/initializeZAxisGeophone.m
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:header-args:matlab+: :comments none :mkdirp yes :eval no
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:END:
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<<sec:initializeZAxisGeophone>>
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This Matlab function is accessible [[file:../src/initializeZAxisGeophone.m][here]].
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#+begin_src matlab
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function [geophone] = initializeZAxisGeophone(args)
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arguments
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args.mass (1,1) double {mustBeNumeric, mustBePositive} = 1e-3 % [kg]
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args.freq (1,1) double {mustBeNumeric, mustBePositive} = 1 % [Hz]
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end
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%%
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geophone.m = args.mass;
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%% The Stiffness is set to have the damping resonance frequency
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geophone.k = geophone.m * (2*pi*args.freq)^2;
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%% We set the damping value to have critical damping
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geophone.c = 2*sqrt(geophone.m * geophone.k);
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%% Save
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save('./mat/geophone_z_axis.mat', 'geophone');
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end
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#+end_src
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** Z-Axis Accelerometer
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:PROPERTIES:
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:header-args:matlab+: :tangle ./src/initializeZAxisAccelerometer.m
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:header-args:matlab+: :comments none :mkdirp yes :eval no
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:END:
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<<sec:initializeZAxisAccelerometer>>
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This Matlab function is accessible [[file:../src/initializeZAxisAccelerometer.m][here]].
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#+begin_src matlab
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function [accelerometer] = initializeZAxisAccelerometer(args)
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arguments
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args.mass (1,1) double {mustBeNumeric, mustBePositive} = 1e-3 % [kg]
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args.freq (1,1) double {mustBeNumeric, mustBePositive} = 5e3 % [Hz]
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end
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%%
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accelerometer.m = args.mass;
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%% The Stiffness is set to have the damping resonance frequency
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accelerometer.k = accelerometer.m * (2*pi*args.freq)^2;
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%% We set the damping value to have critical damping
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accelerometer.c = 2*sqrt(accelerometer.m * accelerometer.k);
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%% Gain correction of the accelerometer to have a unity gain until the resonance
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accelerometer.gain = -accelerometer.k/accelerometer.m;
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%% Save
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save('./mat/accelerometer_z_axis.mat', 'accelerometer');
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end
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#+end_src
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